﻿#pragma once
#include "common_data.h"
#include <opencv2/opencv.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <QVector>

typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

struct SKUPOSITION {
	QString GrabId;
	float SkuPosX;
	float SkuPosY;
	float SkuPosZ;
	float SkuPosZA;
	float SkuPosYA = 0.0;//拆码垛中正交角度
	float SkuPosXA = 0.0;//拆码垛中的正交角度
};

struct RECGRESULT
{
	QPoint P1;
	QPoint P2;
	QPoint P3;
	QPoint P4;
	int id = 0;
};

struct RECORDINFO
{
	RECGRESULT sult;
	int dx;
	int dy;

	float z;
	float za;
	bool btrue;
};

struct BoxInfo
{
	int length = 0;
	int width = 0;
	int id = 0;
	Position pos;
	PointCloud::Ptr cloud;
	QVector<int> child;
};

struct GrabInfo {
	int id;
	Position jigInsku;
	PointCloud::Ptr jigCloud;
	int socer; // 分数
};
